keyboard out of the dual_arm_control lib

Author: Elise-J

dual_arm_control/CMakeLists.txt

@@ -44,7 +44,6 @@ set(H_FILES
 set(TOOLS_FILE
   ${HEADERS_FOLDER}/tools/Utils.hpp
   ${HEADERS_FOLDER}/tools/PdfGMR.hpp
-  ${HEADERS_FOLDER}/tools/Keyboard.h
   ${HEADERS_FOLDER}/tools/KalmanFilter3DVelFromPosEstimator.hpp
   ${HEADERS_FOLDER}/tools/KalmanFilter.hpp
   ${HEADERS_FOLDER}/tools/FirstOrderFilter.hpp

dual_arm_control/include/dual_arm_control_iam/DualArmControlSim.hpp

@@ -53,7 +53,6 @@
 #include "dual_arm_control_iam/ThrowingDS.hpp"
 #include "dual_arm_control_iam/TossTaskParamEstimator.hpp"
 #include "dual_arm_control_iam/TossingTarget.hpp"
-#include "dual_arm_control_iam/tools/Keyboard.h"
 #include "dual_arm_control_iam/tools/Utils.hpp"
 
 #define NB_ROBOTS 2                // Number of robots
@@ -80,6 +79,23 @@ struct CommandStruct {
   float nuWr0;
 };
 
+struct StateMachine {
+  bool goHome;
+  bool goToAttractors;
+  bool isThrowing;
+  bool isPlacing;
+  bool isPlaceTossing;
+  bool isDisturbTarget;
+  bool releaseAndretract;
+  int dualTaskSelector;
+  float desVtoss;
+  float desiredVelImp;
+  float placingPosHeight;
+  float releasePosY;
+
+  bool startlogging;
+};
+
 struct SphericalPosition {
   float r;
   float theta;
@@ -351,7 +367,8 @@ class DualArmControlSim {
   double getPeriod();
 
   // ---- Keyboard commands
-  void updateStatesMachines();
   void keyboardVirtualObjectControl();
   void keyboardReferenceObjectControl();
+  StateMachine getStateMachine();
+  void updateStateMachine(StateMachine stateMachine);
 };